Mapping While Following: 2D LiDAR SLAM in Indoor Dynamic Environments with a Person Tracker.
Hanjing YeGuangcheng ChenWeinan ChenLi HeYisheng GuanHong ZhangPublished in: ROBIO (2021)
Keyphrases
- dynamic environments
- simultaneous localization and mapping
- mobile robot
- loop closing
- indoor environments
- visual slam
- outdoor environments
- path planning
- particle filter
- monocular slam
- autonomous agents
- visual tracking
- loop closure
- real time
- agent systems
- potential field
- image sequences
- autonomous navigation
- real environment
- collision avoidance
- point cloud
- appearance model
- object tracking
- mobile robotics
- plan execution
- obstacle avoidance
- unknown environments
- visual odometry
- changing environment
- robust tracking
- urban areas
- lidar data
- belief space
- camera tracking
- highly dynamic environments
- mean shift